version: 66.04
glider: 512
mission: 4
dive: 173
start: 10 18 113 19 0 33
data:
$ID,512
$MISSION,4
$DIVE,173
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-109929.15
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2697
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00089999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,183830,2240.662,-15807.127,40,1.5,40,10.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-83.6
$GPS2,185919,2240.686,-15807.310,13,1.5,13,10.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.011,-0.275
$KALMAN_X,110429.7,-328.0,-257.0,-122232.4,2272.3
$KALMAN_Y,63589.4,571.9,380.4,-70838.2,920.9
$MHEAD_RNG_PITCHd_Wd,172.2,2263,-16.3,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.51,-126.5,0.0,0.0,0,90,0.00,0.00,-69.10,0.000,2,0.000,0.000,28,2527,2912
$GC,95,-0.51,-126.5,2.1,-1.4,8,124,9.35,1.58,-11.10,0.000,4,0.199,0.055,2521,3549,3407
$GC,179,-0.51,-126.5,28.1,-31.3,19,188,0.00,1.55,0.00,0.000,6,0.000,0.020,2522,2489,3407
$GC,445,-0.51,-126.5,92.1,-20.0,44,449,0.00,1.45,0.00,0.000,4,0.000,0.019,2522,1438,3408
$GC,518,-0.51,-126.5,105.8,-17.0,50,521,0.00,1.58,0.00,0.000,6,0.000,0.036,2515,2476,3407
$GC,789,-0.51,-126.5,155.4,-17.8,75,793,0.00,1.62,0.00,0.000,4,0.000,0.045,2507,3563,3408
$GC,851,-0.51,-126.5,167.4,-20.0,80,855,0.00,1.50,0.00,0.000,6,0.000,0.019,2507,2495,3408
$GC,1119,-0.51,-126.5,216.4,-18.4,99,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2487,3408
$GC,1362,-0.51,-126.5,255.5,-15.6,105,1366,0.00,1.62,0.00,0.000,4,0.000,0.041,2501,3570,3408
$GC,1381,-0.51,-126.5,258.9,-15.4,105,1385,0.00,1.45,0.00,0.000,6,0.000,0.018,2506,2537,3408
$GC,1659,-0.51,-126.5,295.7,-13.4,112,1663,0.00,1.48,0.00,0.000,4,0.000,0.020,2509,1458,3407
$GC,1814,-0.51,-126.5,315.1,-11.8,115,1818,0.00,1.60,0.00,0.000,6,0.000,0.038,2503,2532,3407
$GC,2091,-0.51,-126.5,351.7,-13.7,122,2095,0.00,1.58,0.00,0.000,4,0.000,0.047,2495,3565,3405
$GC,2206,-0.51,-126.5,367.9,-14.0,124,2210,0.08,1.45,0.00,0.000,6,0.126,0.019,2529,2526,3404
$GC,2476,-0.51,-126.5,397.2,-10.8,131,2480,0.00,1.60,0.00,0.000,4,0.000,0.046,2523,3557,3402
$GC,2529,-0.51,-126.5,403.2,-10.8,132,2532,0.00,1.40,0.00,0.000,6,0.000,0.021,2523,2568,3402
$GC,2819,-0.51,-126.5,432.1,-10.0,139,2822,0.00,1.52,0.00,0.000,4,0.000,0.022,2523,1471,3399
$GC,2921,-0.51,-126.5,442.5,-9.3,141,2925,0.00,1.60,0.00,0.000,6,0.000,0.041,2522,2534,3398
$GC,3205,-0.51,-126.5,471.3,-10.4,148,3209,0.00,1.58,-0.08,0.000,4,0.000,0.067,2516,3573,3420
$GC,3246,-0.51,-126.5,476.4,-11.8,148,3252,0.00,1.42,0.00,0.000,6,0.000,0.022,2516,2574,3420
$GC,3500,-0.51,-126.5,503.4,-10.7,155,3504,0.00,1.55,0.00,0.000,4,0.000,0.023,2521,1466,3417
$GC,3570,-0.51,-126.5,510.7,-9.9,156,3573,0.00,1.62,0.00,0.000,6,0.000,0.041,2515,2544,3417
$GC,3842,-0.51,-126.5,538.4,-10.4,163,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2545,3415
$GC,4087,-0.51,-126.5,563.4,-10.2,169,4090,0.00,1.58,0.00,0.000,4,0.000,0.051,2507,3563,3412
$GC,4122,-0.51,-126.5,567.6,-10.1,169,4126,0.00,1.48,0.00,0.000,6,0.000,0.024,2507,2542,3412
$GC,4382,-0.51,-126.5,591.9,-9.2,176,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2535,3411
$GC,4626,-0.51,-126.5,613.1,-8.6,182,4629,0.00,1.52,0.00,0.000,4,0.000,0.025,2508,1462,3409
$GC,4667,-0.51,-126.5,616.9,-8.4,182,4675,0.00,1.62,0.00,0.000,6,0.000,0.042,2502,2515,3409
$GC,4922,-0.51,-126.5,638.4,-8.6,189,4926,0.00,1.60,0.00,0.000,4,0.000,0.052,2494,3567,3407
$GC,5004,-0.51,-126.5,646.0,-9.2,190,5008,0.08,1.50,0.00,0.000,6,0.118,0.024,2530,2527,3406
$GC,5264,-0.51,-126.5,662.3,-6.3,197,5268,0.00,1.52,0.00,0.000,4,0.000,0.025,2530,1453,3404
$GC,5294,-0.51,-126.5,664.5,-6.9,197,5298,0.00,1.67,0.00,0.000,6,0.000,0.045,2524,2527,3404
$GC,5561,-0.51,-126.5,683.3,-7.3,204,5564,0.00,1.60,0.00,0.000,4,0.000,0.057,2523,3566,3402
$GC,5585,-0.51,-126.5,685.4,-7.7,204,5589,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2539,3401
$GC,5858,-0.51,-126.5,705.8,-7.7,211,5861,0.00,1.55,0.00,0.000,4,0.000,0.025,2523,1447,3400
$GC,5882,-0.51,-126.5,708.2,-8.2,211,5886,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2531,3400
$GC,6153,-0.51,-126.5,729.1,-8.0,218,6157,0.00,1.62,0.00,0.000,4,0.000,0.057,2523,3563,3399
$GC,6204,-0.51,-126.5,733.2,-8.0,219,6208,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2539,3399
$GC,6500,-0.51,-126.5,758.1,-8.5,226,6504,0.00,1.55,0.00,0.000,4,0.000,0.026,2524,1447,3398
$GC,6569,-0.51,-126.5,764.6,-8.6,227,6572,0.00,1.70,0.00,0.000,6,0.000,0.047,2523,2553,3397
$GC,6841,-0.51,-126.5,788.9,-9.0,234,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2553,3395
$GC,7084,-0.51,-126.5,810.4,-8.8,240,7088,0.00,1.60,0.00,0.000,4,0.000,0.058,2523,3585,3394
$GC,7116,-0.51,-126.5,813.5,-9.1,240,7120,0.00,1.50,0.00,0.000,6,0.000,0.026,2523,2554,3394
$GC,7384,-0.51,-126.5,835.0,-8.0,247,7387,0.00,1.58,0.00,0.000,4,0.000,0.027,2523,1450,3393
$GC,7425,-0.51,-126.5,838.5,-7.8,247,7433,0.00,1.73,0.00,0.000,6,0.000,0.048,2523,2546,3392
$GC,7679,-0.51,-126.5,856.8,-7.2,254,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2546,3392
$GC,7924,-0.51,-126.5,874.2,-7.2,260,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3391
$GC,8167,-0.51,-126.5,892.4,-7.5,266,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2546,3390
$STATE,8283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8283,begin apogee
$GC,8295,-0.17,0.0,901.2,7.3,269,8407,0.35,0.00,108.97,1.269,6,0.098,0.000,2641,2232,2890
$STATE,8408,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8413,0.51,126.5,904.8,0.0,272,8566,0.60,0.00,125.97,1.165,6,0.029,0.000,2889,2232,2374
$GC,8813,0.51,126.5,847.6,19.6,282,8816,0.00,1.60,0.00,0.000,4,0.000,0.028,2896,1178,2365
$GC,8831,0.51,126.5,843.4,19.6,282,8835,0.00,1.70,0.00,0.000,6,0.000,0.041,2891,2244,2364
$GC,9109,0.51,126.5,791.1,19.0,289,9112,0.00,1.62,0.00,0.000,4,0.000,0.049,2891,3292,2362
$GC,9178,0.51,126.5,776.7,19.9,290,9182,0.15,1.58,0.00,0.000,6,0.187,0.025,2861,2245,2361
$GC,9448,0.51,126.5,732.0,16.2,297,9452,0.00,1.60,0.00,0.000,4,0.000,0.029,2868,1156,2361
$GC,9500,0.51,126.5,724.5,14.6,298,9503,0.00,1.73,0.00,0.000,6,0.000,0.042,2868,2249,2360
$GC,9794,0.51,126.5,677.4,15.9,305,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2249,2359
$GC,10037,0.51,126.5,638.7,15.7,311,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2249,2358
$GC,10281,0.51,126.5,598.6,16.4,317,10284,0.00,1.62,0.00,0.000,4,0.000,0.049,2863,3288,2357
$GC,10331,0.51,126.5,590.0,17.6,318,10334,0.00,1.58,0.00,0.000,6,0.000,0.027,2869,2235,2357
$GC,10627,0.51,126.5,544.8,14.9,325,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2229,2356
$GC,10870,0.51,126.5,508.0,15.1,331,10874,0.00,1.65,0.00,0.000,4,0.000,0.048,2864,3294,2356
$GC,10920,0.51,126.5,500.2,15.8,332,10924,0.00,1.55,0.00,0.000,6,0.000,0.027,2869,2253,2356
$GC,11215,0.51,126.5,459.7,13.8,339,11218,0.00,1.60,0.00,0.000,4,0.000,0.029,2877,1155,2356
$GC,11239,0.51,126.5,455.9,13.8,339,11242,0.00,1.73,0.00,0.000,6,0.000,0.043,2877,2262,2356
$GC,11511,0.51,126.5,418.3,14.0,346,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2263,2355
$GC,11756,0.51,126.5,384.8,13.6,352,11759,0.00,1.58,0.00,0.000,4,0.000,0.049,2876,3276,2355
$GC,11780,0.51,126.5,380.3,14.7,352,11784,0.00,1.55,0.00,0.000,6,0.000,0.025,2882,2225,2355
$GC,12052,0.51,126.5,344.9,12.7,359,12055,0.00,1.67,0.00,0.000,4,0.000,0.048,2878,3279,2355
$GC,12243,0.51,126.5,319.6,12.3,363,12246,0.00,1.50,0.00,0.000,6,0.000,0.027,2884,2264,2355
$GC,12533,0.51,126.5,290.5,10.0,370,12537,0.00,1.60,0.00,0.000,4,0.000,0.027,2891,1157,2355
$GC,12618,0.51,126.5,280.4,11.1,371,12625,0.00,1.67,0.00,0.000,6,0.000,0.041,2891,2238,2355
$GC,12873,0.52,130.3,254.2,9.8,378,12877,0.00,1.58,0.00,0.000,4,0.000,0.026,2897,1176,2355
$GC,12960,0.57,188.1,246.8,7.6,379,13015,0.00,1.58,49.22,0.809,6,0.000,0.038,2892,2199,2124
$GC,13307,0.57,188.1,208.0,12.0,388,13308,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2199,2118
$GC,13557,0.57,188.1,174.1,13.9,406,13561,0.00,1.67,0.00,0.000,4,0.000,0.045,2891,3283,2117
$GC,13606,0.57,188.1,166.6,15.0,410,13610,0.00,1.60,0.00,0.000,6,0.000,0.024,2897,2212,2117
$GC,13878,0.57,188.1,127.7,15.0,435,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2205,2117
$GC,14144,0.57,188.1,90.1,15.0,460,14148,0.00,1.65,0.00,0.000,4,0.000,0.041,2898,3295,2117
$GC,14243,0.61,237.6,80.0,8.0,468,14295,0.00,1.58,40.55,0.637,6,0.000,0.021,2906,2202,1921
$GC,14551,0.62,244.5,53.5,9.7,496,14566,0.00,1.70,7.05,0.529,4,0.000,0.040,2905,3290,1893
$GC,14655,0.62,244.5,42.6,11.0,504,14658,0.00,1.52,0.00,0.000,6,0.000,0.021,2911,2247,1891
$GC,14957,0.62,244.5,9.4,10.6,542,14966,0.00,1.55,0.00,0.000,4,0.000,0.025,2912,1165,1891
$GC,15003,0.62,244.5,4.3,10.4,548,15012,0.00,1.65,0.00,0.000,6,0.000,0.034,2912,2249,1890
$STATE,15019,end climb,SURFACE_DEPTH_REACHED
$STATE,15019,begin surface coast
$FINISH,0.3,1.022869
$STATE,15052,end surface coast,CONTROL_FINISHED_OK
$STATE,15052,begin surface
$SM_CCo,15078,59.50,0.547,0,0,1299,390.02
$SM_GC,1.30,0.00,0.00,59.50,0.000,0.000,0.547,33,2546,1299,-8.32,1.30,390.02
$IRIDIUM_FIX,2232.34,-15808.45,120103,181803
$TT8_MAMPS,0.023777
$HUMID,2190
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,3
$24V_AH,23.9,28.751
$10V_AH,10.7,32.021
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.850,108.400,331.775,59.500,0.000,81.545,130.235,735.291,0.750,0.000,0.000,13.356,1234.268,10270.059,480.083,2888.256,1530.929,33.364,1384.417,0.000,2888.301,0.000,0.545,0.000
$DEVICE_MAMPS,198.653,67.496,1269.385,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,378.667,1824.778,1895.952,1153.039,1245.086,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47862,555
$CAP_FILE_SIZE,128127,0
$CFSIZE,260165632,247287808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,181013,231424,2239.059,-15806.850,45,1.2,45,10.0